Self-tightening rotor

ABSTRACT

Systems, methods, and devices for propelling self-propelled movable objects are provided. In one aspect, a rotor assembly for a self-propelled movable object comprises: a hub comprising a first fastening feature; a drive shaft comprising a second fastening feature and directly coupled to the hub by a mating connection of the first and second fastening features, wherein the drive shaft is configured to cause rotation of the hub such that the mating connection of the first and second fastening features is tightened by the rotation; and a plurality of rotor blades coupled to the hub and configured to rotate therewith to generate a propulsive force.

CROSS-REFERENCE

This application is a continuation of U.S. patent application Ser. No.14/718,021, filed May 20, 2015, which is a continuation of U.S. patentapplication Ser. No. 14/167,735, filed Jan. 29, 2014, now U.S. Pat. No.9,057,273, issued on Jun. 16, 2015, which is a continuation ofInternational Application No. PCT/CN2014/070333, filed Jan. 8, 2014,which claims the benefit of Chinese Patent Application No.201320311523.9, filed May 31, 2013, the entire contents of each of whichare hereby incorporated by reference.

BACKGROUND

Unmanned vehicles such as unmanned aerial vehicles can be used forperforming surveillance, reconnaissance, and exploration tasks formilitary and civilian applications. Such unmanned vehicles typicallyinclude a propulsion system for remote controlled and/or autonomousmovement with the surrounding environment. For example, an unmannedaerial vehicle may be propelled by one or more rotors enabling verticaltake-off and landing, flight, and hovering.

Existing rotor designs for unmanned aerial vehicles, however, can beless than ideal. Typically, rotors are fastened to the drive shaft usingfasteners such as screws, nuts, and pins. In some instances, however,such fasteners can loosen when subjected to vibration and other frettingmotions, thereby causing loosening of the rotor and compromising thefunction and safety of the vehicle.

SUMMARY

A need exists for improved rotors for movable objects such as unmannedaerial vehicles. The present invention provides systems, methods, anddevices for propulsion of self-propelled movable objects. Suchpropulsion may occur with the aid of one or more rotors. In someembodiments, the systems, methods, and devices described herein providean improved rotor incorporating fastening features that areself-tightened by the operation of the rotor (e.g., rotation). Theself-tightening fastening features disclosed herein improve resistanceof the rotor to accidental loosening, thereby enhancing durability andsafety. Furthermore, the fastening features of the present inventionenable the rotor to be mounted onto a drive shaft without additionalfastening elements, thereby simplifying the rotor design.

In one aspect of the present disclosure, a rotor assembly for aself-propelled movable object is described. The rotor assembly includes:a hub including a first fastening feature; a drive shaft including asecond fastening feature and directly coupled to the hub by a matingconnection of the first and second fastening features, wherein the driveshaft is configured to cause rotation of the hub such that the matingconnection of the first and second fastening features is tightened bythe rotation; and a plurality of rotor blades coupled to the hub andconfigured to rotate therewith to generate a propulsive force.

In another aspect of the present disclosure, a rotor assembly for aself-propelled movable object is described. The rotor assembly includes:a hub; an adapter coupled to the hub and including a first fasteningfeature; a drive shaft including a second fastening feature and coupledto the hub through the adapter by a mating connection of the first andsecond fastening features, wherein the drive shaft is configured tocause rotation of the hub such that the mating connection of the firstand second fastening features is tightened by the rotation; and aplurality of rotor blades coupled to the hub and configured to rotatetherewith to generate a propulsive force.

In some embodiments, the self-propelled movable object is an unmannedaerial vehicle.

In some embodiments, the first and second fastening features includemating screw threads. The screw threads can be right-handed screwthreads and the hub can rotate counterclockwise. The screw threads canbe left-handed screw threads and the hub can rotate clockwise. The firstfastening feature can include male screw threads and the secondfastening feature can include female screw threads. The first fasteningfeature can include female screw threads and the second fasteningfeature can include male screw threads.

In some embodiments, the first and second fastening features includemating locking features configured to lock the hub at a specifiedposition and/or orientation relative to the drive shaft. The firstfastening feature can include an aperture in the hub and the secondfastening feature can include a protrusion of the drive shaft insertableinto the aperture.

In some embodiments, the plurality of rotor blades are integrally formedwith the hub.

In some embodiments, the plurality of rotor blades are releasablycoupled to the hub.

In some embodiments, the drive unit includes a motor that rotates,thereby driving the drive shaft.

In some embodiments, the first fastening feature is integrally formedwith the hub.

In some embodiments, the first fastening feature is disposed within acavity of the hub.

In some embodiments, the first fastening feature is disposed on aprotrusion of the hub.

In some embodiments, the adapter is formed from a material havinggreater durability than a material of the hub.

In some embodiments, the first fastening feature is integrally formedwith the adapter.

In some embodiments, the adapter is coupled to a cavity of the hub.

In some embodiments, the adapter is coupled to a protrusion of the hub.

In some embodiments, the adapter is fixedly coupled to the hub.

In some embodiments, the adapter is releasably coupled to the hub.

In another aspect of the present disclosure, a self-propelled movableobject is described. The self-propelled movable object includes: a body;one of the aforementioned rotor assemblies coupled to the body; and adrive unit coupled to the body and configured to drive the drive shaftto cause the rotation of the hub.

In another aspect of the present disclosure, a method for propelling aself-propelled movable object is described. The method includes:providing the aforementioned self-propelled movable object; driving, bymeans of the drive unit, the drive shaft, thereby causing the rotationof the hub; and effecting a movement of the self-propelled movableobject by the propulsive force generated by the plurality of rotorblades.

In another aspect of the present disclosure, a self-propelled movableobject is provided. The self-propelled movable object includes: a bodyincluding a support element; at least one propulsion unit coupled to thesupport element and configured to a generate a propulsive force whenrotated; and an actuator coupled to the body and configured to cause arotation of the at least one propulsion unit, wherein the rotation ofthe at least one propulsion unit causes the at least one propulsion unitto be more tightly coupled to the support element.

In some embodiments, the self-propelled movable object is an unmannedaerial vehicle.

In some embodiments, the support element is a drive shaft operablycoupled to the actuator.

In some embodiments, the at least one propulsion unit includes a rotorhaving a plurality of rotor blades. The rotor can be a verticallyoriented rotor. The rotor can be a horizontally oriented rotor.

In some embodiments, the at least one propulsion unit is coupled to thesupport element by mating screw threads. The screw threads can beright-handed screw threads and the at least one propulsion unit canrotate counterclockwise. The screw threads can be left-handed screwthreads and the at least one propulsion unit can rotate clockwise.

In some embodiments, the at least one propulsion unit is coupled to thesupport element by mating locking features configured to lock the atleast one propulsion unit at a specified position and/or orientationrelative to the drive shaft.

In some embodiments, the actuator includes a motor that rotates, therebyeffecting the rotation of the at least one propulsion unit.

In another aspect of the present disclosure, a method for propelling aself-propelled movable object is provided. The method includes:providing the aforementioned self-propelled movable object; driving theactuator to cause the rotation of the at least one propulsion unit; andeffecting a movement of the self-propelled movable object by thepropulsive force generated by the at least one propulsion unit.

It shall be understood that different aspects of the invention can beappreciated individually, collectively, or in combination with eachother. Various aspects of the invention described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of an aerial vehiclemay apply to and be used for any movable object, such as any vehicle.Additionally, the systems, devices, and methods disclosed herein in thecontext of aerial motion (e.g., flight) may also be applied in thecontext of other types of motion, such as movement on the ground or onwater, underwater motion, or motion in space. Furthermore, anydescription herein of a rotor or rotor assembly may apply to and be usedfor any propulsion system, device, or mechanism configured to generate apropulsive force by rotation (e.g., propellers, wheels, axles).

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 illustrates a rotor for propelling a movable object, inaccordance with embodiments;

FIG. 2 is a cross-section of the rotor of FIG. 1 along line I-I;

FIG. 3 illustrates another example of a rotor for a movable object, inaccordance with embodiments;

FIG. 4 illustrates an alternative example of a rotor for a movableobject, in accordance with embodiments;

FIG. 5 is a cross-section of the rotor of FIG. 5 along line II-II;

FIG. 6 illustrates another example of a rotor for a movable object, inaccordance with embodiments;

FIG. 7A illustrates yet another example of a rotor for a movable object,in accordance with embodiments;

FIG. 7B is a cross-section of the rotor of FIG. 7A along line III-III;

FIG. 8A is a top view of a portion of a drive shaft for a rotorassembly, in accordance with embodiments;

FIG. 8B is a cross-section of the drive shaft of FIG. 8A along lineIV-IV;

FIG. 8C is a cross-section of the drive shaft of FIG. 8A along line V-V;

FIG. 9 illustrates the rotor of FIG. 7A prior to mounting on the driveshaft of FIG. 8A;

FIG. 10 illustrates the drive shaft of FIG. 8A inserted into the rotorof FIG. 7A;

FIG. 11 illustrates the rotor of FIG. 7A being tightened onto the driveshaft of FIG. 8A;

FIG. 12 illustrates the final locked position of the rotor of FIG. 7A onthe drive shaft of FIG. 8A;

FIG. 13 illustrates an unmanned aerial vehicle, in accordance withembodiments;

FIG. 14 illustrates a movable object including a carrier and a payload,in accordance with embodiments; and

FIG. 15 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments.

DETAILED DESCRIPTION

The system, devices, and method of the present invention provideimproved rotors for movable objects, such as a self-propelled movableobject (e.g., an unmanned aerial vehicle (UAV)). In some embodiments,the rotors and rotor assemblies described herein incorporate fasteningfeatures that are configured to self-tighten during rotor operation inorder to prevent inadvertent loosening of the rotor. Advantageously, thedisclosed self-tightening features enhance the safety, stability, anddurability of rotor assemblies for self-propelled movable objects.

For example, an unmanned rotorcraft may be propelled through the air bypropulsive forces generated by the rotation of a rotor. The rotor can bemounted to the rotorcraft via a drive shaft operable to rotate therotor. To ensure that the rotor remains secured even when subjected tovibrations and other motions that may cause loosening, the rotor can becoupled to the drive shaft by integrally formed screw threads having adirectionality configured to self-tighten with the rotation of therotor. The use of integrated screw threads can also simplify assembly ofthe rotorcraft by reducing the overall number of parts.

Thus, in one aspect, the present invention provides a rotor assembly fora self-propelled movable object having one or more of the followingunique features. In a first embodiment, a rotor assembly comprises: ahub comprising a first fastening feature; a drive shaft comprising asecond fastening feature and directly coupled to the hub by a matingconnection of the first and second fastening features, wherein the driveshaft is configured to cause rotation of the hub such that the matingconnection of the first and second fastening features is tightened bythe rotation; and a plurality of rotor blades coupled to the hub andconfigured to rotate therewith to generate a propulsive force.

A rotor of the present invention can include a plurality of rotor bladescoupled to a central hub. A rotor assembly can include a rotor and adrive shaft configured to drive the rotation of the rotor. The hub ofthe rotor and the drive shaft can each include a respective fasteningfeature, with the fastening features being complementary to each othersuch that a mating connection can be formed to couple the hub to thedrive shaft. The mating connection can be configured to be tightened bythe rotation of the hub and rotor blades, thereby preventing the rotorfrom becoming loosened from the drive shaft during operation. Thisapproach advantageously improves rotor safety and stability withoutrequiring additional parts.

In a second embodiment, the present invention provides an alternativerotor assembly for a self-propelled movable object. The rotor assemblycomprises: a hub; an adapter coupled to the hub and comprising a firstfastening feature; a drive shaft comprising a second fastening featureand coupled to the hub through the adapter by a mating connection of thefirst and second fastening features, wherein the drive shaft isconfigured to cause rotation of the hub such that the mating connectionof the first and second fastening features is tightened by the rotation;and a plurality of rotor blades coupled to the hub and configured torotate therewith to generate a propulsive force.

The hub, rotor blades, and drive shaft described above are equallyapplicable to this embodiment. Where desired, the hub can be modified tocouple an adapter having a fastening feature. Accordingly, the hub canbe coupled to the drive shaft by a mating connection between thefastening features of the adapter and the drive shaft. The matingconnection can be a self-tightening connection as previously described.Advantageously, the adapter can be formed from a more durable materialthan the hub, thus improving the wear resistance of the matingconnection and thus extending the overall lifespan of the rotorassembly.

In a separate aspect, the present invention provides a self-propelledmovable object having one or more of the following unique features. Inone embodiment, a self-propelled movable object comprises: a body; therotor assembly of the first or second embodiment coupled to the body;and a drive unit coupled to the body and configured to drive the driveshaft to cause the rotation of the hub.

The hub, rotor blades, adapter, and drive shaft described above withregards to the rotor assemblies of the first and second embodiments areequally applicable to this embodiment. The movable object can alsoinclude a drive unit suitable for actuating the drive shaft to rotatethe rotor. Accordingly, the rotor assembly can be mounted to the body ofthe movable object to provide propulsive forces for effecting a movementof the movable object (e.g., effecting translational and/or rotationalmovements).

In another embodiment, the present invention provides anotheralternative self-propelled movable object. The self-propelled movableobject comprises: a body comprising a support element; at least onepropulsion unit coupled to the support element and configured togenerate a propulsive force when rotated; and an actuator coupled to thebody and configured to cause a rotation of the at least one propulsionunit, wherein the rotation of the at least one propulsion unit causesthe at least one propulsion unit to be more tightly coupled to thesupport element.

The propulsion unit can be a rotor, rotor assembly, or any otherrotating propulsion device (e.g., a propeller, wheel, axle), and anydescription herein pertaining to a rotor or rotor assembly can also beapplied to any suitable rotary propulsion unit. The propulsion unit canbe mounted to the body of the movable object through a support element,which can be a shaft (e.g., a drive shaft as described herein), frame,strut, or any other element suitable for coupling and supporting thepropulsion unit on the movable object. The actuator, which may encompassa drive unit and/or drive transmission elements, can cause the rotationof the propulsion unit to propel the movable object. The rotation of thepropulsion unit may cause self-tightening of the coupling between thepropulsion unit and the support element, similar to the self-tighteningmating connection described above.

In a separate aspect, the present invention provides a method forpropelling a self-propelled movable object having one or more of thefollowing steps. In one embodiment, a method comprises: providing theaforementioned self-propelled movable object comprising a body, therotor assembly of the first or second embodiment, and a drive unit;driving, by means of the drive unit, the drive shaft, thereby causingthe rotation of the hub; and effecting a movement of the self-propelledmovable object by the propulsive forces generated by the plurality ofrotor blades.

As previously described herein, the self-propelled movable object caninclude a body, a rotor assembly mounted on the body, and a drive unit.To propel the movable object, the drive unit can be used to drive thedrive shaft to cause the hub of the rotor to rotate, thereby rotatingthe rotor blades. In some instances, the drive shaft may actuate therotation of the hub via a coupled adapter, as described above. Thepropulsive forces generated by the rotation of the rotor blades caneffect a movement of the movable object.

In another embodiment, the present invention provides anotheralternative method for propelling a self-propelled movable object havingone or more of the following steps. The method comprises providing aself-propelled movable object, the self-propelled movable objectcomprising: a body comprising a supporting element; at least onepropulsion unit coupled to the support element and configured togenerate a propulsive force when rotated; and an actuator coupled to thebody and configured to cause a rotation of the at least one propulsionunit, wherein the rotation of the at least one propulsion unit causesthe at least one propulsion unit to be more tightly coupled to thesupport element. The method also comprises: driving the actuator tocause the rotation of the at least one propulsion unit; and effecting amovement of the self-propelled movable object by the propulsive forcegenerated by the at least one propulsion unit.

The self-propelled movable object having a propulsion unit, supportelement, and actuator disclosed above are equally applicable to thisembodiment. Similar to the other embodiments described herein, theactuator can be driven to cause the propulsion unit to rotate, therebypropelling the movable object by the resultant propulsive forcegenerated by the rotation of the propulsion unit. The propulsion unitmay include a rotor.

A rotor of the present invention can include any suitable number ofrotor blades (e.g., one, two, three, four, or more blades). A rotorblade can be of any suitable shape, such as a flat shape, a curvedshape, a twisted shape, a tapered shape, or suitable combinationsthereof. The rotor blade may be a substantially elongated shape. In someembodiments, the shape of the blade can be varied (e.g., by telescoping,folding, bending, and the like). The blade may be symmetrical (which mayrefer to having identical upper and lower surfaces) or asymmetrical(which may refer to having differently shaped upper and lower surfaces).For example, the blade can be shaped into an airfoil, wing, or othergeometry suitable for generating aerodynamic forces (e.g., lift forces,thrust forces) when the blade is moved through the air. The geometry ofthe blade can be selected in order to optimize the aerodynamicproperties of the blade, such as to increase lift and thrust forces andreduce drag forces.

The blade can have any suitable dimensions, such as length, width, chordlength, and thickness. For example, the length of the blade can be lessthan or equal to 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm,10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Conversely, the length of the blade can be greater than or equal to 0.5cm, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 25 cm,50 cm, 1 m, 2 m, or 5 m. The width or chord length of the blade can beless than or equal to 0.5 cm, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm,8 cm, 9 cm, 10 cm, 25 cm, or 50 cm. Conversely, the width or chordlength of the blade can be greater than or equal to 0.5 cm, 1 cm, 2 cm,3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 25 cm, or 50 cm. Thethickness of the blade can be less than or equal to 0.01 cm, 0.05 cm,0.1 cm, 0.5 cm, cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, or10 cm. Conversely, the thickness of the blade can be greater than orequal to 0.01 cm, 0.05 cm, 0.1 cm, 0.5 cm, cm, 2 cm, 3 cm, 4 cm, 5 cm, 6cm, 7 cm, 8 cm, 9 cm, or 10 cm. The length of the blade can be greaterthan the width of the blade and the thickness of the blade. The width ofthe blade can be greater than the thickness of the blade. In someinstances, a ratio of the length to the width can be greater than orequal to: 2:1, 3:1, 4:1, 5:1, 6:1, 7:1, 8:1, 9:1, 10:1, 12:1, 15:1, or20:1.

The blades can be coupled to a central hub. The coupling may be a fixedcoupling, such that the position and/or orientation of the blades arefixed relative to the hub. In some instances, the blades can beintegrally formed with the hub. The blades and the hub can be formed ofa single integral piece. Alternatively, the blades can be movablerelative to the hub with up to three degrees of freedom in translationand up to three degrees of freedom in rotation, such as by means ofsuitable joints, hinges, bearings, fasteners, and other couplingelements. The blades can be permanently coupled to the hub. Conversely,the blades can be releasably coupled to the hub. The blades can bedisposed symmetrically or asymmetrically about the hub. In someembodiments, the blades can be arranged radially around the hub, suchthat a proximal portion of each blade is coupled to the hub and a distalportion of each blade extends radially outward from the hub. The bladescan be equally spaced apart along a radial direction. For example, twoblades can be separated by 180°, three blades can be separated by 120°,four blades can be separated by 90°, and so on.

The hub can be coupled to a support element suitable for supporting therotor during operation while enabling rotation of the hub and rotorblades. The coupling can be a permanent coupling or a releasablecoupling. The hub can be pivotally coupled to the support element suchthat the angle of the rotor can be tilted between a plurality ofdifferent angles. Alternatively, the hub can be fixedly coupled at a setangle relative to the support element. The support element may be ashaft, frame, strut, brace, or other component of the movable object. Adrive shaft may be an example of a support element. In some embodiments,the support element may be translated and/or rotated relative to themovable object, while in other embodiments, the support element may bein a fixed position and/or orientation relative to the movable object.Optionally, the support element may be an actuator or a component of anactuator for the rotor. For example, the hub can be coupled to a driveshaft configured to actuate the rotation of the hub, which may produce acorresponding rotation of the coupled blades. It shall be understoodthat any description herein of coupling to a drive shaft can also beapplied to coupling to other types of support elements.

The hub can be coupled to the drive shaft using any suitable means, suchas with fasteners (e.g., screws, nuts, bolts, pins, rivets),interference fits, snap fits, adhesives, welding, and the like. In someembodiments, the hub can be coupled to drive shaft using a matingconnection between one or more fastening features of the hub and thedrive shaft. For example, the hub can include a first fastening featureand the drive shaft can include a second fastening feature complementaryto and forming a mating connection with the first fastening feature.Suitable fastening features can include one or more of: threads,apertures, passages, slots, tabs, teeth, hooks, snap fits, interlocks,protrusions, indentations, splines, grooves, flanges, ribs, and thelike. The fastening feature can include a specific shape or geometry ofthe hub or drive shaft, such as a two- or three-dimensional shape of anaperture, cross-section, profile, surface, or any other suitable portionof the hub or drive shaft. In some embodiments, the mating connection ofthe first and second fastening features can be an interference fit orany other coupling maintained primarily by friction between the surfacesof the features. Where desired, the hub may be coupled to the driveshaft only through the use of fastening features and without requiringother coupling means. Alternatively, the hub may be coupled to the driveunit using fastening features in conjunction with other coupling means.

In some embodiments, the hub can be directly coupled to the drive shaftthrough fastening features as described herein. Alternatively, the hubcan be indirectly coupled to the drive shaft through an adapter or otherconnecting element coupled to the hub. The first fastening feature canbe situated on the adapter instead of the hub, such that a matingconnection is formed between the fastening features of the drive shaftand adapter. Suitable adapters can include, for example, rings, tubes,inserts, protrusions, connectors, and the like. The fastening featurecan be integrally formed with the adapter (e.g., the adapter andfastening feature or formed from a single integral piece.) The hub canbe configured to accommodate many different types of adapters.Conversely, the hub can be configured to accommodate only a single typeof adapter. The adapter may be a standardized part useable with manydifferent types of rotors. Optionally, the adapter may be specificallyconfigured for a single type of rotor. The adapter can be fixedlycoupled to the hub. Alternatively, the coupling may permit the adapterto translate (e.g., with up to three degrees of freedom) and/or rotate(e.g., with up to three degrees of freedom) relative to the hub. Theadapter can be permanently affixed to the hub. Conversely, the adaptercan be releasably coupled to the hub. For example, the adapter may beconfigured to be easily replaced or substituted so that the rotor can beused with a plurality of different types of adapters. In some instances,the adapter can be exchanged or swapped with other adapters havingdifferent types of fastening features, such that a single rotor can becoupled with many different types of drive shafts having different typesof fastening features.

When desired, a drive shaft coupled to a rotor can be driven (e.g.,rotated) by a suitable actuator or drive unit to cause the rotation ofthe hub and rotor blades. For example, the drive unit can include amotor or engine, such as a rotating motor. The blades can be driven bythe drive shaft to spin about an axis of rotation (e.g., thelongitudinal axis of the drive shaft) in a clockwise direction and/or acounterclockwise direction. The blades can all spin in the samedirection. Alternatively, one or more blades of a rotor can beconfigured to spin independently, such that some of the blades spin inone direction and other blades spin in the opposite direction. In someembodiments, the blades may all spin at the same rate, while in otherembodiments, some of the blades may spin at different rates. The bladesmay all spin in the same plane of rotation. Alternatively, some of theblades may spin in different planes of rotation, and the differentplanes may be parallel planes. The rotor can be a horizontal rotor(which may refer to a rotor having a horizontal plane of rotation), avertically oriented rotor (which may refer to a rotor having a verticalplane of rotation), or a rotor tilted at an intermediate angle betweenthe horizontal and vertical positions. In some embodiments, horizontallyoriented rotors may spin and provide lift to the movable object.Vertically oriented rotors may spin and provide thrust to the movableobject. Rotors oriented an intermediate angle between the horizontal andvertical positions may spin and provide both lift and thrust to themovable object. One or more rotors may be used to provide a torquecounteracting a torque produced by the spinning of another rotor. Theforces generated by the rotation of the rotors can be of a sufficientmagnitude to propel the movable object. In some embodiments, the rotorscan be configured to spin at a rate suitable for generating the desiredpropulsive forces. The rotation rate can be based on the dimensions ofthe movable object (e.g., size, weight), and the movable object may haveany suitable dimensions as described elsewhere herein.

In some instances, the rotation of the rotor can cause the coupling ofthe hub to the drive shaft to become loosened. For example,fretting-induced motion (e.g., vibration) of the hub and drive shaftduring rotor operation can loosen the mating connection of the fasteningfeatures. Accordingly, in order to counteract and/or prevent suchloosening, the fastening features can be configured to self-tightenduring rotor operation. Tightening of a mating connection may involveone or both of the fastening features moving relative to each other.Conversely, tightening may refer to maintaining a current disposition ofthe fastening features relative to each other without involving anyrelative movements. Tightening of the fastening feature may prevent orconstrain the movement of the rotor relative to the drive shaft.Tightening may refer to preventing or constraining macroscopic movementsof the rotor relative to the driver shaft while allowing microscopicmovements. The tightening may prevent or constrain movement in one ormore directions. For example, tightening may prevent or constrain therotor from translating along the longitudinal axis of the drive shaft(e.g., up or down the drive shaft). Tightening may prevent or constrainthe rotor from translating along the lateral axis of the drive shaft(e.g., forward, backward, left, or right). In some instances, tighteningmay prevent or constrain the rotor from rotating relative to the hub,such as preventing rotation of the rotor along directions that do notprovide the desired propulsive forces. Optionally, the fasteningfeatures can include mating locking features configured to constrain orlock the hub and blades at a specified position and/or orientationrelative to the drive shaft. The descriptions of fastening featuresprovided herein can also be applied to locking features.Self-tightening, which may also be used to refer to self-locking orself-fastening, may refer to a tightening of the mating connectionbetween the fastening features that occurs without specifically applyinga force to produce the tightening. The self-tightening can be anautomatic process that occurs without any external intervention (e.g.,from a user).

In some embodiments, forces exerted on the mating connection duringrotor operation may incidentally serve to tighten the mating connection.The mating connection may also be tightened by forces exerted when therotor is not operating (e.g., not rotating). Such forces may includeforces due to inertia, friction, gravity, lift, thrust, drag, airresistance, torque, and the like. The self-tightening force may have adirectionality (e.g., right-handed, left-handed, clockwise,counterclockwise). For example, the mating connection may be tightenedonly by a force or torque applied in certain directions. In someembodiments, self-tightening forces can be generated by rotation of therotor, such as a clockwise rotation and/or a counterclockwise rotation,and the rotor may be configured to rotate only in the direction(s)causing self-tightening of the mating connection. The tighteningdirection may be a different direction than the rotation direction ofthe rotor, such as the opposite of the rotation direction. Conversely,the tightening direction may be the same as the rotation direction.

The elements of the exemplary rotors and rotor assemblies describedherein (e.g., blades, hub, adapter, drive shaft) may be flexibleelements or rigid elements, and can be fabricated using any suitablematerial or combination of materials. Suitable materials can includemetals (e.g., stainless steel, aluminum), plastics (e.g., polystyrene,polypropylene), wood, composite materials (e.g., carbon fiber), and thelike. The materials for the rotors and rotor assemblies can be selectedbased on one or more of strength, weight, durability, stiffness, cost,processing characteristics, and other material properties. In someembodiments, adapters may be fabricated from a material having greaterdurability than other rotor assembly elements (e.g., the hub, blades) inorder to improve the wear resistance and longevity of the fasteningfeatures and mating connection surfaces. For example, the hub and bladescan be formed from plastic materials, while the adapter can be formedfrom metallic materials. The couplings described herein can utilize oneor more of fasteners (e.g., screws, nuts, bolts, pins, rivets),interference fits, snap fits, adhesives, welding, and the like. Whendesired, any of the couplings between rotor assembly elements (e.g.,blades, hub, adapter, drive shaft, or between components thereof) canutilize the self-tightening fastening features disclosed herein.

Referring now to the drawings, FIGS. 1 and 2 illustrate a rotor 100 fora movable object, in accordance with embodiments. The rotor 100 includesa hub 10 and a plurality of rotor blades 20. Although the rotor 100 isdepicted as having two rotor blades 20, any suitable number of rotorblades can be used (e.g., one, two, three, four, five, or more). Eachrotor blade 20 includes a proximal end 21 and a distal end 22. The rotorblades 20 can be coupled to the hub 10 by their respective proximal ends21, such as by permanent coupling or releasable couplings as previouslydescribed herein. In some instances, the rotor blades 20 can beintegrally formed with the hub 10. The hub 10 and rotor blades 20 can bedriven by a suitable drive shaft (not shown) to rotate in a direction A,which is illustrated as a counterclockwise direction. However, in otherembodiments, the hub 10 and rotor blades 20 can be configured forclockwise rotation, or for rotation in both directions.

The hub 10 can include a fastening feature 11 for coupling the hub tothe drive shaft. The fastening feature can be situated on any suitableportion of the hub 10, such as on the exterior, interior, top, bottom,or lateral sides of the hub 10. For example, the fastening feature 11can be disposed within a cavity 12 of the hub 10, the cavity 12 beingshaped to receive an end of a drive shaft. The fastening feature 11 canbe integrally formed with the hub 10 such that the hub can be directlycoupled to the drive shaft. Alternatively, the hub 10 can be indirectlycoupled to the drive shaft, such as by an adapter as previouslydescribed herein. For example, the adapter can be configured to beinserted within the cavity 12 of the hub 10. Accordingly, the fasteningfeature 11 can be disposed on the adapter such that the matingconnection is formed between the adapter and the drive shaft, ratherthan directly between the hub 10 and the drive shaft. The adapter can beformed from having improved durability relative to the hub to improvethe lifespan of the fastening feature 11 and mating connection, asdescribed elsewhere herein.

The fastening feature 11 can include female screw threads configured toform a mating connection with a complementary fastening feature on thedrive shaft (e.g., male screw threads). Although the fastening feature11 is depicted in FIGS. 1 and 2 as screw threads, this is not intendedto be limiting, and any descriptions herein relating to screw threadscan be applied to any suitable type of fastening feature. The fasteningfeature 11 can have a directionality, such that the mating connection istightened by rotation in a direction B, which is depicted as a clockwisedirection. In some instances, the axes of rotation of the rotationdirection A and the tightening direction B may be coaxial.Alternatively, the axes of rotation may not be coaxial.

In some embodiments, the tightening direction B is configured to beopposite the rotation direction A, such that the mating connectionformed by the fastening feature 11 self-tightens as the rotor spins. Forexample, when the rotation direction A is counterclockwise, thetightening direction B can be clockwise (e.g., as with right-handedscrew threads), as depicted in FIGS. 1 and 2. Conversely, when therotation direction A is clockwise, the tightening direction B can becounterclockwise (e.g., as with left-handed screw threads). Furthermore,by configuring the rotation direction A and the tightening direction Bto be opposite, the air resistance experienced by the rotor blades 20during operation can be balanced by the friction experienced by themating connection of the fastening feature 11, thereby reducing themagnitude of vibrations and other fretting motions experienced by therotor 100.

FIG. 3 illustrates another example of a rotor 200 for a movable object,in accordance with embodiments. The rotor 200 includes a hub 210 androtor blades 220. The hub 210 can be configured as an insert 213 with acylindrical body 210 a and a conical cap 210 b. The rotor blades 220 canbe formed with a cylindrical receptacle 220 a having a passage forreceiving the insert 213. The rotor blades 220 may be connected to eachother via the receptacle 220 a. In some instances, the rotor blades 220may be incorporated into a single integral piece with the receptacle 220a. The rotor blades 220 can be coupled to the hub 210 by inserting theinsert 213 into the receptacle 220 a. Optionally, the cap 210 b of theinsert 213 can have a greater maximum cross-sectional area than the body210 a in order to control the depth to which the insert 213 can beinserted into the receptacle 220 a. The insert 213 can be permanentlyaffixed or releasably coupled within the receptacle 220 a. For example,the insert 213 can be coupled within the receptacle 220 a by fasteners,interference fits, snap fits, adhesives, welding, and the like.

The body 210 a of the insert 213 can include a fastening feature 211(e.g., female screw threads) disposed within a cavity 211 a, similar tothe configuration of the rotor 100. Likewise, the fastening feature 211can be configured to tighten in a direction opposite the rotation of therotor 200 to provide self-tightening during rotor operation. Optionally,the fastening feature 211 can be situated on an adapter inserted withinthe cavity 211 a and coupled to the body 210 a.

FIGS. 4 and 5 illustrate another example of a rotor 300 for a movableobject, in accordance with embodiments. The configuration of the rotor300 is similar to the configuration of the rotor 200, and any elementsof the rotor 300 not specifically described herein can be the same as inthe rotor 200 or one or more features or characteristics of the rotor200 can be applied to the rotor 300. The rotor 300 can be configured torotate in a clockwise direction. The fastening feature 311 of the rotor300 can be tightened along a tightening direction C. The tighteningdirection C can be counterclockwise so that the mating connection formedby the fastening feature 311 is self-tightened by clockwise rotation ofthe rotor 300. For example, the fastening feature 311 can be left-handedfemale screw threads configured to couple with complementary left-handedmale screw threads of a drive shaft. Alternatively, the rotationdirection can be counterclockwise and the tightening direction C can beclockwise.

FIG. 6 illustrates another example of a rotor 400 for a movable object,in accordance with embodiments. The configuration of the rotor 400 issimilar to the configuration of the rotor 100, and any elements of therotor 400 not specifically described herein can be the same as in therotor 100 or one or more features or characteristics of the rotor 100can be applied to the rotor 400. The rotor 400 includes a hub 410, withfastening features 411 situated on a protrusion 410 a of the hub 410.The protrusion 410 a can be shaped to be inserted into a cavity within adrive shaft (not shown). Accordingly, the fastening feature 411 can bemale screw threads configured to mate with complementary female screwthreads situated within the cavity of the drive shaft. Optionally, thefastening feature 411 can be situated on an adapter fitted on or overthe protrusion 410 a and shaped to be inserted within the cavity of thedrive shaft. As previously described herein, the tightening direction ofthe fastening feature 411 can be opposite the rotation direction of therotor 400 to enable self-tightening during rotor operation.

In some embodiments, the fastening feature 411 can be attached to thehub 410 by means of a connecting element 31 a situated on the hub 410.The connecting element 31 a may be integrally formed with the hub 410.Conversely, the connecting element 31 a may be formed separately fromthe hub 410. For example, the connecting element 31 a may be formed onthe bottom surface of the hub 410 and configured to engage the uppersurface of the protrusion 410 a in order to couple the fastening feature411 to the hub 410. The connecting element 31 a may be coupled to theprotrusion 410 a using any suitable means, such as fasteners,interference fits, snap fits, adhesives, welding, and the like. Theconnecting element 31 a and the protrusion 410 a may be fixedly coupledto each other. Alternatively, the connecting element 31 a may bereleasably coupled to the protrusion 410 a.

FIGS. 7A and 7B illustrate a rotor 500 for a movable object, inaccordance with embodiments. The rotor 500 includes a hub 510 and blades520. The blades 520 can be integrally formed with the hub 510. The hub510 can include a fastening feature 511 for coupling the rotor to adrive shaft. The fastening feature 511 can be self-tightening, such thatrotation of the rotor 500 tightens the mating connection of thefastening feature 511 with the drive shaft as described herein. In someembodiments, the fastening feature 511 can be a locking featureconfigured to lock the hub 510 at a specified position and/ororientation relative to the drive shaft. For example, the fasteningfeature 511 can include an aperture 512, a pair of guides 513, and apair of stops 514 configured for locking the rotor 500 to a drive shaft,as described in further detail below. The aperture 512 can provide apassage through the center of the hub 510. The guides 513 can be curvedramps disposed within the passage and reducing the circumference of aportion of the aperture 512. The guides 513 can partially span thecircumference of the aperture 512, such that each guide is terminated aton end by a gap 515 and at the other by a stop 514. The stops 514 can beprotrusions extending into the aperture 512 towards the axis of rotationof the rotor 500. The stops 514 can have a greater thickness than theguides 513, such that the upper surfaces of the stops 514 are flush withthe upper surface of the rotor 500, while the upper surfaces of theguides 513 are offset from the upper surface of the rotor 500. Uppersurface may refer to the surfaces visible in the depiction of FIG. 7A.

FIGS. 8A, 8B, and 8C illustrate a portion of a drive shaft 600 of arotor, in accordance with embodiments. The drive shaft 600 can include ashaft body 602, a base 604, and a fastening feature 606. The fasteningfeature 606 can be configured to form a mating connection withcomplementary fastening features of a rotor. Optionally, the fasteningfeature 606 can be a self-tightening fastening feature as describedherein. In some embodiments, the fastening feature 606 can be a lockingfeature configured to lock a rotor at a specified position and/ororientation relative to the drive shaft 600. For example, the fasteningfeatures can include a pair of protrusions 608 shaped to mount and lockthe hub 510 of the rotor 500 by engaging the aperture 512, guides 513,and stops 514, as described below. The protrusions 608 can be roundedstructures extending outward from the shaft body 602 at a suitableheight above the base 604. The protrusions 608 can be disposedsymmetrically about the axis of rotation of the drive shaft 600 and beshaped to fit within the gaps 515 of the rotor 500.

FIGS. 9-12 illustrate the rotor 500 being mounted onto the drive shaft600. In FIG. 9, the rotor 500 and a portion of the drive shaft 600 areshown prior to mounting. In FIG. 10, the end of the drive shaft 600 isinserted into the hub 510 such that the protrusions 608 pass through thegaps 515 formed by the guides 513 within the aperture 512. To tightenthe rotor 500 on the drive shaft 600, the rotor 500 can rotated be alonga tightening direction relative to the drive shaft 600, depicted as aclockwise direction in FIG. 11. As the rotor 500 rotates, theprotrusions 608 slide within the aperture 512 and over the uppersurfaces of the guides 513 until they are pressed against the stops 514,thus tightening the coupling between the rotor 500 and the drive shaft600. Optionally, the upper surfaces of the guides 513 can be angledupwards, such that the mating connection can be tightened as theprotrusions 608 are advanced along the guides 513. Alternatively, theupper surfaces of the guides 513 may be flat. FIG. 12 illustrates thefinal locked position of the rotor 500 and drive shaft 600. In thelocked position, the protrusions 608 can be configured to rest on theguides 513 in a position engaging the stops 514 such that the rotor 500is prevented from becoming uncoupled from the drive shaft 600. Forexample, the protrusions 608 may be pressed against the upper surfacesof the guides 513 to prevent the rotor 500 from moving longitudinallyrelative to the drive shaft 600. Furthermore, in some embodiments, therotor 500 can be configured to rotate in a direction opposite of thetightening direction, such that the rotor 500 is self-tightened onto thedrive shaft 600 by the forces generated by the rotation, as describedherein. For example, in the embodiments of FIGS. 9-12, the tighteningdirection is depicted as clockwise and the rotation directioncounterclockwise, such that the protrusions 608 are held flush againstthe stops 514 by the counterclockwise rotation of the rotor 500.However, if the rotor 500 is configured to rotate in a clockwisedirection, the fastening features 511, 606 can be configured such thatthe tightening direction for locking the rotor 500 is counterclockwise.

The systems, devices, and methods described herein can be applied to awide variety of movable objects. As previously mentioned, anydescription herein of an aerial vehicle may apply to and be used for anymovable object. A movable object of the present invention can beconfigured to move within any suitable environment, such as in air(e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircrafthaving neither fixed wings nor rotary wings), in water (e.g., a ship ora submarine), on ground (e.g., a motor vehicle, such as a car, truck,bus, van, motorcycle; a movable structure or frame such as a stick,fishing pole; or a train), under the ground (e.g., a subway), in space(e.g., a spaceplane, a satellite, or a probe), or any combination ofthese environments. The movable object can be a vehicle, such as avehicle described elsewhere herein. In some embodiments, the movableobject can be mounted on a living subject, such as a human or an animal.Suitable animals can include avines, canines, felines, equines, bovines,ovines, porcines, delphines, rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be a vehicle. Suitablevehicles may include water vehicles, aerial vehicles, space vehicles, orground vehicles. For example, aerial vehicles may be fixed-wing aircraft(e.g., airplane, gliders), rotary-wing aircraft (e.g., helicopters,rotorcraft), aircraft having both fixed wings and rotary wings, oraircraft having neither (e.g., blimps, hot air balloons). A vehicle canbe self-propelled, such as self-propelled through the air, on or inwater, in space, or on or under the ground. A self-propelled vehicle canutilize a propulsion system, such as a propulsion system including oneor more engines, motors, wheels, axles, magnets, rotors, propellers,blades, nozzles, or any suitable combination thereof. In some instances,the propulsion system can be used to enable the movable object to takeoff from a surface, land on a surface, maintain its current positionand/or orientation (e.g., hover), change orientation, and/or changeposition.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. In someembodiments, the movable object is an unmanned movable object, such as aUAV. An unmanned movable object, such as a UAV, may not have an occupantonboard the movable object. The movable object can be controlled by ahuman or an autonomous control system (e.g., a computer control system),or any suitable combination thereof. The movable object can be anautonomous or semi-autonomous robot, such as a robot configured with anartificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail below. In some examples, a ratioof an movable object weight to a load weight may be greater than, lessthan, or equal to about 1:1. In some instances, a ratio of an movableobject weight to a load weight may be greater than, less than, or equalto about 1:1. Optionally, a ratio of a carrier weight to a load weightmay be greater than, less than, or equal to about 1:1. When desired, theratio of an movable object weight to a load weight may be less than orequal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratioof an movable object weight to a load weight can also be greater than orequal to: 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 13 illustrates an unmanned aerial vehicle (UAV) 700, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein. The UAV 700 can include apropulsion system having four rotors 702, 704, 706, and 708. Any numberof rotors may be provided (e.g., one, two, three, four, five, six, ormore). The rotors can be embodiments of the self-tightening rotorsdescribed elsewhere herein. The rotors, rotor assemblies, or otherpropulsion systems of the unmanned aerial vehicle may enable theunmanned aerial vehicle to hover/maintain position, change orientation,and/or change location. The distance between shafts of opposite rotorscan be any suitable length 710. For example, the length 710 can be lessthan or equal to 2 m, or less than equal to 5 m. In some embodiments,the length 710 can be within a range from 40 cm to 7 m, from 70 cm to 2m, or from 5 cm to 5 m. Any description herein of a UAV may apply to amovable object, such as a movable object of a different type, and viceversa.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for an movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject).

In some embodiments, the load includes a payload. The payload can beconfigured not to perform any operation or function. Alternatively, thepayload can be a payload configured to perform an operation or function,also known as a functional payload. For example, the payload can includeone or more sensors for surveying one or more targets. Any suitablesensor can be incorporated into the payload, such as an image capturedevice (e.g., a camera), an audio capture device (e.g., a parabolicmicrophone), an infrared imaging device, or an ultraviolet imagingdevice. The sensor can provide static sensing data (e.g., a photograph)or dynamic sensing data (e.g., a video). In some embodiments, the sensorprovides sensing data for the target of the payload. Alternatively or incombination, the payload can include one or more emitters for providingsignals to one or more targets. Any suitable emitter can be used, suchas an illumination source or a sound source. In some embodiments, thepayload includes one or more transceivers, such as for communicationwith a module remote from the movable object. Optionally, the payloadcan be configured to interact with the environment or a target. Forexample, the payload can include a tool, instrument, or mechanismcapable of manipulating objects, such as a robotic arm.

Optionally, the load may include a carrier. The carrier can be providedfor the payload and the payload can be coupled to the movable object viathe carrier, either directly (e.g., directly contacting the movableobject) or indirectly (e.g., not contacting the movable object).Conversely, the payload can be mounted on the movable object withoutrequiring a carrier. The payload can be integrally formed with thecarrier. Alternatively, the payload can be releasably coupled to thecarrier. In some embodiments, the payload can include one or morepayload elements, and one or more of the payload elements can be movablerelative to the movable object and/or the carrier, as described above.

The carrier can be integrally formed with the movable object.Alternatively, the carrier can be releasably coupled to the movableobject. The carrier can be coupled to the movable object directly orindirectly. The carrier can provide support to the payload (e.g., carryat least part of the weight of the payload). The carrier can include asuitable mounting structure (e.g., a gimbal platform) capable ofstabilizing and/or directing the movement of the payload. In someembodiments, the carrier can be adapted to control the state of thepayload (e.g., position and/or orientation) relative to the movableobject. For example, the carrier can be configured to move relative tothe movable object (e.g., with respect to one, two, or three degrees oftranslation and/or one, two, or three degrees of rotation) such that thepayload maintains its position and/or orientation relative to a suitablereference frame regardless of the movement of the movable object. Thereference frame can be a fixed reference frame (e.g., the surroundingenvironment). Alternatively, the reference frame can be a movingreference frame (e.g., the movable object, a payload target).

In some embodiments, the carrier can be configured to permit movement ofthe payload relative to the carrier and/or movable object. The movementcan be a translation with respect to up to three degrees of freedom(e.g., along one, two, or three axes) or a rotation with respect to upto three degrees of freedom (e.g., about one, two, or three axes), orany suitable combination thereof.

In some instances, the carrier can include a carrier frame assembly anda carrier actuation assembly. The carrier frame assembly can providestructural support to the payload. The carrier frame assembly caninclude individual carrier frame components, some of which can bemovable relative to one another. The carrier actuation assembly caninclude one or more actuators (e.g., motors) that actuate movement ofthe individual carrier frame components. The actuators can permit themovement of multiple carrier frame components simultaneously, or may beconfigured to permit the movement of a single carrier frame component ata time. The movement of the carrier frame components can produce acorresponding movement of the payload. For example, the carrieractuation assembly can actuate a rotation of one or more carrier framecomponents about one or more axes of rotation (e.g., roll axis, pitchaxis, or yaw axis). The rotation of the one or more carrier framecomponents can cause a payload to rotate about one or more axes ofrotation relative to the movable object. Alternatively or incombination, the carrier actuation assembly can actuate a translation ofone or more carrier frame components along one or more axes oftranslation, and thereby produce a translation of the payload along oneor more corresponding axes relative to the movable object.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 14 illustrates a movable object 800 including a carrier 802 and apayload 804, in accordance with embodiments. Although the movable object800 is depicted as an aircraft, this depiction is not intended to belimiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 804 may be provided on the movable object800 without requiring the carrier 802. The movable object 800 mayinclude propulsion mechanisms 806, a sensing system 808, and acommunication system 810.

The propulsion mechanisms 806 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. For example, the propulsion mechanisms 806 maybe self-tightening rotors, rotor assemblies, or other rotary propulsionunits, as disclosed elsewhere herein. The movable object may have one ormore, two or more, three or more, or four or more propulsion mechanisms.The propulsion mechanisms may all be of the same type. Alternatively,one or more propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 806 can be mounted on the movableobject 800 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms806 can be mounted on any suitable portion of the movable object 800,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 806 can enable themovable object 800 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 800 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 806 can be operable to permit the movableobject 800 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 800 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 800 can be configured to becontrolled simultaneously. For example, the movable object 800 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 800. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 800 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 808 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 800 (e.g., with respect to up to three degrees of translation andup to three degrees of rotation). The one or more sensors can includeglobal positioning system (GPS) sensors, motion sensors, inertialsensors, proximity sensors, or image sensors. The sensing data providedby the sensing system 808 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 800(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 808 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 810 enables communication with terminal 812having a communication system 814 via wireless signals 816. Thecommunication systems 810, 814 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 800 transmitting data to theterminal 812, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 810 to one or morereceivers of the communication system 812, or vice-versa. Alternatively,the communication may be two-way communication, such that data can betransmitted in both directions between the movable object 800 and theterminal 812. The two-way communication can involve transmitting datafrom one or more transmitters of the communication system 810 to one ormore receivers of the communication system 814, and vice-versa.

In some embodiments, the terminal 812 can provide control data to one ormore of the movable object 800, carrier 802, and payload 804 and receiveinformation from one or more of the movable object 800, carrier 802, andpayload 804 (e.g., position and/or motion information of the movableobject, carrier or payload; data sensed by the payload such as imagedata captured by a payload camera). In some instances, control data fromthe terminal may include instructions for relative positions, movements,actuations, or controls of the movable object, carrier and/or payload.For example, the control data may result in a modification of thelocation and/or orientation of the movable object (e.g., via control ofthe propulsion mechanisms 806), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 802).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 808 or of the payload 804). The communications may include sensedinformation from one or more different types of sensors (e.g., GPSsensors, motion sensors, inertial sensor, proximity sensors, or imagesensors). Such information may pertain to the position (e.g., location,orientation), movement, or acceleration of the movable object, carrierand/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 812 can be configured tocontrol a state of one or more of the movable object 800, carrier 802,or payload 804. Alternatively or in combination, the carrier 802 andpayload 804 can also each include a communication module configured tocommunicate with terminal 812, such that the terminal can communicatewith and control each of the movable object 800, carrier 802, andpayload 804 independently.

In some embodiments, the movable object 800 can be configured tocommunicate with another remote device in addition to the terminal 812,or instead of the terminal 812. The terminal 812 may also be configuredto communicate with another remote device as well as the movable object800. For example, the movable object 800 and/or terminal 812 maycommunicate with another movable object, or a carrier or payload ofanother movable object. When desired, the remote device may be a secondterminal or other computing device (e.g., computer, laptop, tablet,smartphone, or other mobile device). The remote device can be configuredto transmit data to the movable object 800, receive data from themovable object 800, transmit data to the terminal 812, and/or receivedata from the terminal 812. Optionally, the remote device can beconnected to the Internet or other telecommunications network, such thatdata received from the movable object 800 and/or terminal 812 can beuploaded to a website or server.

FIG. 15 is a schematic illustration by way of block diagram of a system900 for controlling a movable object, in accordance with embodiments.The system 900 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 900can include a sensing module 902, processing unit 904, non-transitorycomputer readable medium 906, control module 908, and communicationmodule 910.

The sensing module 902 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 902 can beoperatively coupled to a processing unit 904 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 912 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 912 canbe used to transmit images captured by a camera of the sensing module902 to a remote terminal.

The processing unit 904 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 904 can be operatively coupled to a non-transitorycomputer readable medium 906. The non-transitory computer readablemedium 906 can store logic, code, and/or program instructions executableby the processing unit 904 for performing one or more steps. Thenon-transitory computer readable medium can include one or more memoryunits (e.g., removable media or external storage such as an SD card orrandom access memory (RAM)). In some embodiments, data from the sensingmodule 902 can be directly conveyed to and stored within the memoryunits of the non-transitory computer readable medium 906. The memoryunits of the non-transitory computer readable medium 906 can storelogic, code and/or program instructions executable by the processingunit 904 to perform any suitable embodiment of the methods describedherein. For example, the processing unit 904 can be configured toexecute instructions causing one or more processors of the processingunit 904 to analyze sensing data produced by the sensing module. Thememory units can store sensing data from the sensing module to beprocessed by the processing unit 904. In some embodiments, the memoryunits of the non-transitory computer readable medium 906 can be used tostore the processing results produced by the processing unit 904.

In some embodiments, the processing unit 904 can be operatively coupledto a control module 908 configured to control a state of the movableobject. For example, the control module 908 can be configured to controlthe propulsion mechanisms of the movable object to adjust the spatialdisposition, velocity, and/or acceleration of the movable object withrespect to six degrees of freedom. Alternatively or in combination, thecontrol module 908 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 904 can be operatively coupled to a communicationmodule 910 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 910 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module910 can transmit and/or receive one or more of sensing data from thesensing module 902, processing results produced by the processing unit904, predetermined control data, user commands from a terminal or remotecontroller, and the like.

The components of the system 900 can be arranged in any suitableconfiguration. For example, one or more of the components of the system900 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 15 depicts asingle processing unit 904 and a single non-transitory computer readablemedium 906, one of skill in the art would appreciate that this is notintended to be limiting, and that the system 900 can include a pluralityof processing units and/or non-transitory computer readable media. Insome embodiments, one or more of the plurality of processing unitsand/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 900 can occur at one or more of theaforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

1. (canceled)
 2. A multi-rotor self-propelled movable object, themovable object comprising: (a) a first rotor assembly comprising: afirst hub coupled to a first plurality of blades, wherein the first hubcomprises a first fastening feature including a first aperture and afirst pair of stops; a first adapter coupled to the first hub, whereinthe first adapter comprises a second fastening feature including a firstpair of protrusions; and a first drive shaft coupled to the first hubthrough the first adapter by a mating connection of the first and secondfastening features, wherein the first drive shaft is configured to causerotation of the first hub in a first direction via a rotational forcecomponent that is transmitted from the first drive shaft to the firsthub via contact between the first pair of protrusions and the first pairof stops, and wherein the first plurality of blades coupled to the firsthub are configured to rotate therewith in the first direction togenerate a first propulsive force providing lift to the movable object;and (b) a second rotor assembly comprising: a second hub coupled to asecond plurality of blades, wherein the second hub comprises a thirdfastening feature including a second aperture and a second pair ofstops; a second adapter coupled to the second hub, wherein the secondadapter comprises a fourth fastening feature including a second pair ofprotrusions; and a second drive shaft coupled to the second hub throughthe second adapter by a mating connection of the third and fourthfastening features, wherein the second drive shaft is configured tocause rotation of the second hub in a second direction opposite to thefirst direction via a rotational force component that is transmittedfrom the second drive shaft to the second hub via contact between thesecond pair of protrusions and the second pair of stops, and wherein thesecond plurality of blades coupled to the second hub are configured torotate therewith in the second direction to generate a second propulsiveforce providing lift to the movable object.
 3. The movable object ofclaim 2, wherein the self-propelled movable object is an unmanned aerialvehicle.
 4. The movable object of claim 2, wherein the first and secondpluralities of blades are each configured to rotate in a horizontalplane of rotation.
 5. The movable object of claim 2, wherein the firstplurality of blades coupled to the first hub is integrally formed withthe first hub, or the second plurality of blades coupled to the secondhub is integrally formed with the second hub.
 6. The movable object ofclaim 2, further comprising a drive unit configured to drive the firstdrive shaft or the second drive shaft, wherein the drive unit comprisesa motor that rotates, thereby driving the first drive shaft or thesecond drive shaft.
 7. The movable object of claim 2, wherein (1) thefirst and second fastening features comprise at least one mating lockingfeature configured to lock at the first hub at a specified positionrelative to the first drive shaft; or (2) the third and fourth fasteningfeatures comprise at least one mating locking feature configured to lockat the second hub at a specified position relative to the second driveshaft.
 8. The movable object of claim 2, wherein the first fasteningfeature comprises a first pair of guides, or the third fastening featurecomprises a second pair of guides.
 9. The movable object of claim 8,wherein: the first adapter is insertably connected to the first hub suchthat the first pair of protrusions pass through gaps formed by the firstpair of guides within the first aperture, allowing the first pair ofprotrusions to slidably move within the first aperture and over thefirst pair of guides until pressed against the first pair of stops in afirst locked position; or the second adapter is insertably connected tothe second hub such that the second pair of protrusions pass throughgaps formed by the second pair of guides within the second aperture,allowing the second pair of protrusions to slidably move within thesecond aperture and over the second pair of guides until pressed againstthe second pair of stops in a second locked position.
 10. The movableobject of claim 9, wherein: in the first locked position, the first pairof protrusions are configured to rest on the first pair of guides in aposition engaging the first pair of stops such that the first rotorassembly is prevented from becoming uncoupled; or in the second lockedposition, the second pair of protrusions are configured to rest on thesecond pair of guides in a position engaging the second pair of stopssuch that the second rotor assembly is prevented from becominguncoupled.
 11. The movable object of claim 10, wherein rotation in thefirst direction causes the first pair of protrusions to slidably moveinto the first locked position, or rotation in the second directioncauses the second pair of protrusions to slidably move into the secondlocked position.
 12. A multi-rotor self-propelled movable object, themovable object comprising: (a) a first rotor assembly comprising: afirst hub coupled to a first plurality of blades, the first hubcomprising a first fastening feature threaded in a right-handeddirection; and a first drive shaft comprising a second fastening featureand coupled to the first hub by a threaded mating connection of thefirst and second fastening features, wherein the first drive shaft isconfigured to cause rotation of the first hub in a first direction via arotational force component that is transmitted from the first driveshaft to the first hub via contact between the first and secondfastening features, wherein the first plurality of blades coupled to thefirst hub are configured to rotate therewith in the first direction togenerate a first propulsive force providing lift to the movable object,and wherein the threaded mating connection of the first and secondfastening features is able to be tightened by the rotation of the firstdrive shaft in only the first direction; and (b) a second rotor assemblycomprising: a second hub coupled to a second plurality of blades, thesecond hub comprising a third fastening feature threaded in aleft-handed direction; and a second drive shaft comprising a fourthfastening feature and coupled to the second hub by a threaded matingconnection of the third and fourth fastening features, wherein thesecond drive shaft is configured to cause rotation of the second hub ina second direction that is opposite to the first direction via arotational force component that is transmitted from the second driveshaft to the second hub via contact between the third and fourthfastening features, wherein the second plurality of blades coupled tothe second hub are configured to rotate therewith in the seconddirection to generate a second propulsive force providing lift to themovable object, and wherein the threaded mating connection of the thirdand fourth fastening features is able to be tightened by the rotation ofthe second drive shaft in only the second direction.
 13. The movableobject of claim 12, wherein the self-propelled movable object is anunmanned aerial vehicle.
 14. The movable object of claim 12, wherein thefirst and second pluralities of blades are each configured to rotate ina horizontal plane of rotation.
 15. The movable object of claim 12,wherein the first plurality of blades coupled to the first hub isintegrally formed with the first hub, or the second plurality of bladescoupled to the second hub is integrally formed with the second hub. 16.The movable object of claim 12, further comprising a drive unitconfigured to drive the first drive shaft or the second drive shaft,wherein the drive unit comprises a motor that rotates, thereby drivingthe first drive shaft or the second drive shaft.
 17. The movable objectof claim 12, wherein: (1) the first hub comprises a first adaptercomprising the first fastening feature, the first adapter is formed froma material having greater durability than a material of the first hub,and the first hub is coupled to the first driving shaft via the firstadapter; or (2) the second hub comprises a second adapter comprising thethird fastening feature, the second adapter is formed from a materialhaving greater durability than a material of the second hub, and thesecond hub is coupled to the second driving shaft via the secondadapter.
 18. The movable object of claim 17, wherein the first fasteningfeature is integrally formed with the first adapter, or the thirdfastening feature is integrally formed with the second adapter.
 19. Themovable object of claim 17, wherein the first adapter is coupled to acavity of the first hub, or the second adapter is coupled to a cavity ofthe second hub.
 20. The movable object of claim 17, wherein the firstadapter is releasably coupled to the first hub, or the second adapter isreleasably coupled to the second hub.
 21. The movable object of claim12, wherein a lift component of the first propulsive force is impartedvia contact between threads of the first hub and threads of the firstdrive shaft, and wherein a lift component of the second propulsive forceis imparted via contact between threads of the second hub and threads ofthe second drive shaft.